The stabilization interval system of a tethered descent underwater vehicle

Результат исследований: Материалы для журнала

Аннотация

To damp the vertical oscillations of a descent submersible caused by dusting the control system utilizing a shock-absorbing hoist located on the submersible was developed. A robust proportional-plus-integral action controller was included in the control loop to ensure acceptable dynamic properties of the system by interval variations of the module mass, the rope length, the equivalent value of stiffness of a spring linkage and the equivalent value of damping factor of the spring linkage. A parametric synthesis of the controller was carried out on the basis of the robust expansion of the coefficient method of the quality rating estimation. The system operability was confirmed by the results of the digital simulation parameters.

Язык оригиналаАнглийский
Номер статьи012008
ЖурналIOP Conference Series: Materials Science and Engineering
Том124
Номер выпуска1
DOI
СостояниеОпубликовано - 2 июн 2016
СобытиеInternational Conference on Mechanical Engineering, Automation and Control Systems 2015, MEACS 2015 - Tomsk, Российская Федерация
Продолжительность: 1 дек 20154 дек 2015

ASJC Scopus subject areas

  • Materials Science(all)
  • Engineering(all)

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